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                在NAO机器人上安装第三方库
            
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            <h1 id="在Nao机器人上安装第三方库"><a href="#在Nao机器人上安装第三方库" class="headerlink" title="在Nao机器人上安装第三方库"></a>在Nao机器人上安装第三方库</h1><h2 id="声明"><a href="#声明" class="headerlink" title="声明"></a>声明</h2><blockquote>
<p>郑州大学双足实验室 可公开资料</p>
<p>2018.5.31</p>
<p>由2016级 Nao组 王政乔 撰写</p>
<p>请遵循郑州大学双足实验室规则</p>
</blockquote>
<h3 id="前言"><a href="#前言" class="headerlink" title="前言"></a>前言</h3><p>能搜到这篇文章的人目的自然就不用说了，不少人为了给Nao机器人上安装第三方库费了一番功夫，我也是如此，忙里忙外折腾了两三天，各种搜索资料，基本上国内外的中英文资料我全部翻过了，可能还是我对Linux了解不够深入吧，走了不少弯路，下面我对这个问题进行解释，并对相关的问题点出原因和解决方案，也算是我对停留在这个问题这么久的一个解释，同时也为了技术传承。</p>
<p>本文原版将会保存到郑州大学双足实验室服务器中，如果在外网公开或使用破解方式非法获得此文档，不追究其责任，不过如果对本教程修改需要遵循郑州大学双足实验室规则，即保留声明部分，且声明现文基于郑州大学双足实验室的可公开资料《Nao机器人安装第三方库》一文删改。</p>
<a id="more"></a>

<h3 id="问题"><a href="#问题" class="headerlink" title="问题"></a>问题</h3><h4 id="问题综述"><a href="#问题综述" class="headerlink" title="问题综述"></a>问题综述</h4><p>我们可以查阅Nao Document，或者Google搜索相关关键字能够找到相关Nao的技术信息（<a href="http://doc.aldebaran.com/2-1/dev/tools/developing-using-thirdparty.html），这里面有对安装第三方库的大致教程，但对于一些初学者来说这是非常不友好的，总感觉自己执行的命令与官方的不相符，事实上也是有原因的，我当前使用的是NAO">http://doc.aldebaran.com/2-1/dev/tools/developing-using-thirdparty.html），这里面有对安装第三方库的大致教程，但对于一些初学者来说这是非常不友好的，总感觉自己执行的命令与官方的不相符，事实上也是有原因的，我当前使用的是NAO</a> v4版，采用的系统是OpenNao OS，这个系统是基于Gentoo Linux修改的，如果感兴趣的各位可以了解一下Gentoo系统并使用，我只是将它安装到虚拟机上运行了，但事实上有用没有呢？然并卵。下面我会列举一下Nao目前出现的问题。</p>
<h4 id="问题列表"><a href="#问题列表" class="headerlink" title="问题列表"></a>问题列表</h4><ol>
<li>使用了Gentoo，无法使用pip，因此没有办法pip获得第三方库</li>
<li>使用离线方法安装了pip，却发现提示SSL错误，原因是版本太低（系统自带的版本是1.0，但因为安全问题，很可能被停止服务，就我了解，2018.2.22日左右吧，Github停止了对SSL 1.0和1.1的支持），但如果升级SSL就会遇到下一个问题。</li>
<li>NAO使用的系统是极度阉割精简后的，也就意味着，我没有发现任意一款已知的包管理器，也难怪各种apt、yum什么的总是高冷回复一句command not found了，甚至Gentoo里的emerge也被阉割的一干二净，所以，包管理器就不用想了。</li>
<li>如果仅仅包管理器被阉割就算了，连GCC也被阉割就有些丧心病狂了，没错，GCC也被阉割了，也就是说，你想编译？不存在的，老老实实用Python吧，但事实上并非如此，官方文档里也有对这个的说明，我想可能是对NAO的一种保护吧，谁知道呢，如果这个都没问题的话我就不会费那么大心思写这个教程了。</li>
<li>NAO机器人里自带的是Qmake，这个我没用过，可能是编译c++ sdk的，但人生苦短我用python，还好没用c++，不知道又会出什么幺蛾子，好吧，没有cmake，最多让你./configure一下，然后make？ sorry, command not found.</li>
<li>目前就想到了这么多，如果有回忆起来我会继续加的，这个问题列表的目的就是让搜索引擎导向我这里，差不多了，我要开始秀了。</li>
</ol>
<h3 id="解决方案"><a href="#解决方案" class="headerlink" title="解决方案"></a>解决方案</h3><h4 id="纯Python的第三方库"><a href="#纯Python的第三方库" class="headerlink" title="纯Python的第三方库"></a>纯Python的第三方库</h4><p>这是安装第三方库的一种情况，为什么说是纯Python的第三方库呢？是因为从下载下来后都是编译好的.pyc文件，这时候你只需要通过sftp将文件下载到nao中，与你的代码程序放在一块，再直接调用就行了，实在不行就在代码前添加sys.path.append到你下载的库的目录喽。</p>
<p>怎么获得第三方库呢？</p>
<p>你能pip你自然应该知道是怎么回事吧。pypi（<a href="https://pypi.org/project/pip/），里面搜索想要的库，然后download，解压下载的文件，比如pyserial，解压后的setup.py，安装即可。">https://pypi.org/project/pip/），里面搜索想要的库，然后download，解压下载的文件，比如pyserial，解压后的setup.py，安装即可。</a></p>
<h4 id="c-的第三方库"><a href="#c-的第三方库" class="headerlink" title="c++的第三方库"></a>c++的第三方库</h4><p>这个是最简单的方法，但也有一定的局限性，也是客服给我的方案，但大千世界无奇不有，有些第三方库并不是使用Python写的，却是用的c++，把我弄得焦头烂额的就是一个 zbar，做过二维码的都知道，zbar配合pil是相当给力的组合，但怎么移动到nao中呢？</p>
<p>我们在pip下载zbar后解压，发现它提供的是cmake的安装，而我们浏览其中文件就可以知道绝大部分都是c文件，按照正常的步骤是./configure -&gt;make -&gt;make install这一不能再熟悉的操作，但是由于OpenNao OS并没有gcc，也没有gmake，因此在./configure编译的过程中就会遇到错误，无法进行下去，这时候就需要我们换一种方式安装了。</p>
<p>官方文档里有这么一句话：</p>
<blockquote>
<p>Assuming you are developing a project called <em>bar</em> depending on <em>libupnp</em>.</p>
<p>Before being able to run the final application on the robot, there are some steps to successfully build then deploy this application. Briefly they are:</p>
<ol>
<li>Build the third-party dependencies in the <strong>NAOqi OS</strong> virtual machine;</li>
<li>Convert the binary package built in the <strong>NAOqi OS</strong> virtual machine into a qiBuild package;</li>
<li>Add the qiBuild package to the cross-toolchain;</li>
<li>Build the application;</li>
<li>Deploy the application on the robot.</li>
</ol>
<p>Hereafter is the step-by-step tutorial.</p>
</blockquote>
<p>抱歉，是一段，总的来说，让我明白了想要更新NAO系统是死活找不到（昨天刚上架NAO的系统），却找到了一大堆虚拟机文件的原因了，大致意思是由于虚拟机上的opennao os并没有阉割那么厉害（还是阉割了，毕竟太老了），因此可以在虚拟机上编译后复制到NAO系统中，这个是一个非常非常复杂的过程，我试过几次到绝望，更绝望的是，从虚拟机上导出了一个个文件夹，但我不知道把他们放哪儿？！我甚至启动了屏幕录像，最高清画质最高帧率录像，然后一点点慢放截屏，以获得他的路径，不过还真让我发现了一些端倪，所以废话差不多了，字数也够了，我们继续吧。</p>
<h5 id="1、建立虚拟机"><a href="#1、建立虚拟机" class="headerlink" title="1、建立虚拟机"></a>1、建立虚拟机</h5><p>我们需要导入一个虚拟机，这个虚拟机就是上文提到的 resource nao community里的，进入这个commnunity是需要注册的，注册完后他会给你chorographe激活码哟，还在为找不到激活码而发愁吗骚年。这个community的网址是（<a href="https://community.ald.softbankrobotics.com/en/resources/software/language/en-gb），我们往下找会找到OpenNAO">https://community.ald.softbankrobotics.com/en/resources/software/language/en-gb），我们往下找会找到OpenNAO</a> OS VirtualBox 2.1.2（我现在是这个版本），把它下载下来。</p>
<p>要注意</p>
<p>要注意</p>
<p>要注意</p>
<blockquote>
<p>NAO机器人使用的是基于gentoo的opennao os，32位 i686</p>
</blockquote>
<p>这个我之前还没理解什么意思，后来学习了一下才明白i686的重要性，NAO使用的芯片是intel的低功耗芯片（忘了是Z什么来这了，不过和现在二合一平板感觉差不多），因此虚拟机布置的时候必须也是i686的，否则在编译的时候调用的文件可能会不一样，到时候拷贝到NAO中不能使用。</p>
<p>我的电脑用的是i5-7500？属于i686，这个我还没学完，只是一知半解，了解的同学可以指点一下。</p>
<p>然后使用Virtual Box载入虚拟机，我们再启动就可以了。</p>
<h5 id="2、虚拟机更新"><a href="#2、虚拟机更新" class="headerlink" title="2、虚拟机更新"></a>2、虚拟机更新</h5><p>虽然在 Using the Naoqi OS in a virtual machine一问中有一行醒目的Warning，<strong>Never run emerge –sync</strong>，让我们不要更新系统，解释就是，新版本可能会导致兼容问题，无法在NAO上使用（毕竟NAO上ssl版本都是2012年的嘛，隔了6年可以理解），不过如果你使用emerge安装软件你会发现，最近一次更新是在6年前（基于我当前时空），所以你想安装软件？慢慢等吧。所以毫不犹豫的执行了更新。</p>
<figure class="highlight shell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">emerge --sync</span><br></pre></td></tr></table></figure>

<p>这个过程是漫长的，所以我中途终止了，（就是这么任性），更新了5分钟，主要是更新前忘记了换源，千兆网速下载100k简直煎熬。</p>
<p>之后大家可以参考Gentoo wiki里的emerge的语法</p>
<figure class="highlight shell"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br></pre></td><td class="code"><pre><span class="line">emerge -s &lt;包&gt; </span><br><span class="line">emerge -S &lt;包&gt;</span><br></pre></td></tr></table></figure>

<p>大小写无非是查找更细致而已，这个自己喜好吧，然后在找到包后，安装cmake、gcc之类的（好像装过了，我也忘记了，如果需要配置好的虚拟机可以从双足实验室对外网站上下载（如果开放的话）），之后就是重复步骤了。</p>
<h5 id="3、建立快照"><a href="#3、建立快照" class="headerlink" title="3、建立快照"></a>3、建立快照</h5><p>配置好环境后不要忘记设置一个备份，不要问为什么，照做就是了，之后你会明白的</p>
<h5 id="4、下载包并解压安装"><a href="#4、下载包并解压安装" class="headerlink" title="4、下载包并解压安装"></a>4、下载包并解压安装</h5><p>我们把下载好的zbar-xxx.zip通过sftp传输到虚拟机上，（没错，有wget不能用就是这么恶心），解压，然后安装正常操作</p>
<figure class="highlight shell"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br></pre></td><td class="code"><pre><span class="line">cd zbar-xxxx/</span><br><span class="line">python setup.py install</span><br></pre></td></tr></table></figure>

<p> 之后呢，需要关注一下生成的.so文件到底去哪儿了，在我的安装过程中，出现了这么一段话</p>
<blockquote>
<p>copying build/lib.linux-i686-2.7/zbar.so -&gt; /usr/bin/python2.7/site-packages</p>
</blockquote>
<p>这时候你就应该知道我之前强调的i696和必须要用opennao os virtual box（只有python2.7）的原因了吧，还有第三部建立快照，如果，复制的文件太多了，你一个屏幕刷不过来，那就只能恢复到备份前，然后开启屏幕录像，最高清的，再来一次了，然后对着录像分析喽。</p>
<p>这时候我们就知道整个过程说白了就只有上面的copy过程是重点，那么我们就只需要找到build/lib.linux-i686-2.7/zbar/so文件，把它放到nao里的/usr/bin/python2.7/site-packages中了。</p>
<p>7、验证</p>
<p>咦？我的5和6呢？抱歉，就是这么任性，这时候我们就认证一下吧。</p>
<figure class="highlight shell"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br></pre></td><td class="code"><pre><span class="line">python2</span><br><span class="line"><span class="meta">&gt;</span><span class="bash">&gt;&gt;import zbar</span></span><br><span class="line"><span class="meta">&gt;</span><span class="bash">&gt;&gt;</span></span><br></pre></td></tr></table></figure>

<p>成功！</p>
<h3 id="后记"><a href="#后记" class="headerlink" title="后记"></a>后记</h3><p>欢迎大家对文中问题指正，可以联系郑州大学双足实验室NAO组的现役成员敦促修改，在此对各位表示感谢。同时，希望大家遵循郑州大学双足实验室的规则（在文章前有），谢谢。</p>

            
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